检索结果-内蒙古大学图书馆

arXiv 2025年

作者： Kaypak, Ali Umut Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order control Barrier Functions (HOCBFs) to address this issue. While prior works focused on using control Barrier Functions (CBFs) for human–robotic arm and single-arm collision avoidance, we explore the problem of collision avoidance between multiple robotic arms operating in a shared space. In our methodology, we utilize the proposed HOCBFs as centralized and decentralized safety filters. These safety filters are compatible with any nominal controller and ensure safety without significantly restricting the robots’ workspace. A key challenge in implementing these filters is the computational overhead caused by the large number of safety constraints and the computation of a Hessian matrix per constraint. We address this challenge by employing numerical differentiation methods to approximate computationally intensive terms. The effectiveness of our method is demonstrated through extensive simulation studies and real-world experiments with Franka Research 3 robotic arms. © 2025, CC BY.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

BAT Optimized SMC for Continuous Stirred Tank Reactor

BAT Optimized SMC for Continuous Stirred Tank Reactor

引用

IEEE Information Technology and Mechatronics engineering Conference (ITOEC)

作者： Husam E. Elfadel Haroon Congzhi Huang School of Control and Computer Engineering North China Electric Power University Beijing China Department of Electrical and Electronic Engineering Faculty of Engineering Omdurman Islamic University Khartoum Sudan

ISBN: (数字)9798331529482

ISBN: (纸本)9798331529499

This topic proposed a Sliding Mode control (SMC) strategy utilizing the BAT Algorithm (BAT-SMC) for regulating concentration and temperature in a Continuous Stirred Tank Reactor (CSTR) system. The SMC is designed to maintain concentration (CA) and temperature (T) within desired setpoints by adapting sliding surfaces in the presence of disturbances and system uncertainties. The BAT Algorithm enhances the SMC by optimizing control parameters, reducing chattering effects, and improving tracking accuracy. Simulations validate the efficacy of BAT-SMC, showing improved dynamic performance for both concentration and temperature control compared to other controllers.

关键词： Uncertainty Mechatronics Heuristic algorithms Optimal control Coolants Temperature control Continuous-stirred tank reactor Feeds Information technology Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

引用

High-Speed Railway 2024年第3期2卷 143-152页

作者： Xiaolin Luo Tao Tang Le Wang Hongjie Liu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA Beijing Zongheng Electro-Mechanical Technology Development Co. Ltd.Beijing 100081China School of Automation and Intelligence Beijing Jiaotong UniversityBeijing 100044China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe *** guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB *** this case,the minimal safety distance is usually numerically calculated without an analytic ***,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing *** solve this problem,we propose a Distributed Economic Model Predictive control(DEMPC)approach with computation efficiency and theoretical ***,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved *** theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient ***,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among ***,experimental results demonstrate the performance and advantages of the proposed approaches.

关键词： Virtually coupled train set Space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration

来源：评论

学校读者我要写书评

暂无评论

Multiphase LLC Resonant Converter with Natural Current Sharing and Phase-Shedding

引用

IEEE Transactions on Industry Applications 2025年

作者： Ahmad, Ubaid Giral, Roberto Olalla, Carlos Sangwongwanich, Ariya Davari, Pooya Blaabjerg, Frede Universitat Rovira i Virgili Països Catalans Department of Electrical Electronics and Automatic Control Engineering School of Electrical and Computer Engineering Catalonia Tarragona26 43007 Spain Aalborg University Department of Energy Aalborg Ost9220 Denmark

The multiphase LLC converter is commonly used for high-power and high step-down applications. However, the tolerances in the tank circuit parameters cause uneven current sharing (CS), reducing system reliability. Additionally, phase-shedding (PS) can improve converter efficiency at partial load by turning-OFF phases. This paper proposes a multiphase input-parallel output-parallel LLC resonant converter with a common inductor-capacitor branch, with the objective to achieve excellent CS and phase-shedding at the same time. Thanks to the shared branch, current-sharing is natural, and phase-shedding is realized without affecting the operating point. With fewer passive comp- onents and a simple phase connection, the design offers low-cost, high-power density, and improved light-load efficiency compared to existing solutions. Detailed analysis shows improved CS on both the primary and secondary sides, when compared to previous approaches. Simulation and experimental results for the proposed two-phase LLC resonant converter validate the analysis and illustrate the effectiveness of the CS and PS capabilities. At the rated load of 800 W, CS error is 2.48% on the primary side and 2.0% on the secondary side. Phase-shedding improves efficiency by 3.60% at 50% load and 6.82% at 25% load. © 1972-2012 IEEE.

关键词： Resonant converters

来源：评论

学校读者我要写书评

暂无评论

Reactive Navigation of the Ackermann Steering Robot in Unknown Environments

Reactive Navigation of the Ackermann Steering Robot in Unkno...

引用

International Conference on autonomous Robots and Agents, ICARA

作者： ANA ŠELEK IVAN HRABAR SAŠA ŠTEKOVIĆ Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Autegra D.O.O. Zagreb Croatia

ISBN: (数字)9798331509231

ISBN: (纸本)9798331509248

Mobile robots are now widely used in numerous real-world applications that have complex navigation requirements, especially in environments used by humans. This requires highly accurate navigation that can be performed in realtime. In this paper, a method for generating a smooth motion of nonholonomic mobile robots is proposed. It enables robots to move optimally toward the desired goal and allows fast path replanning when encountering unknown or dynamic obstacles. The method generates smooth, collision-free trajectories based on clothoids, ensuring high computational efficiency and suitability for realtime path planning. By applying a smoothing algorithm, the proposed method improves the robot's efficiency in terms of travel time and trajectory length from start to goal, as demonstrated by a comparison with model predictive control.

关键词： Smoothing methods Navigation Dynamics Real-time systems Trajectory Computational efficiency Mobile robots Collision avoidance Testing Predictive control

来源：评论

学校读者我要写书评

暂无评论

Robust Frequency Regulation for Dual-Area Interconnected Grids Using Hybrid controller: A Comparative Study 3

Robust Frequency Regulation for Dual-Area Interconnected Gri...

引用

3rd IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2023

作者： Wazir, Awadh Ba Alhussainy, Abdullah A. Alobaidi, Abdulraheem H. Altaf, Aatif Kumar, Anil Kumar, Mahendra Alghamdi, Sultan King Abdulaziz University Faculty of Engineering Department of Electrical and Computer Engineering Jeddah Saudi Arabia King Abdulaziz University Center of Research Excellence in Renewable Energy and Power Systems Jeddah Saudi Arabia Dr. B R Ambedkar National Institute of Technology Jalandhar Instrumentation and Control Engineering Department Punjab Jalandhar India

ISBN: (纸本)9798350304732

This paper introduces a robust controller designed for load frequency control in a dual-area integrated power grid. Here, the suggested controller is a blend of a fuzzy logic controller with an integral controller. The parameters of the integral controller and frequency bias settings are optimized to enhance the dynamic response of the proposed controller. To attain this, three distinct optimization algorithms are employed, i.e., genetic algorithm, simulated annealing, and pattern search. A new objective function using settling time, settling-max, and settling-min with a suitable weight factor is used to improve the parameters estimation process. A comparative analysis is performed using the proposed approach and classical-I controller under two cases considering several load disturbance scenarios. Furthermore, the suggested hybrid controller is evaluated and compared with similar models in the literature. As expected, the proposed controller exhibits superior performance. © 2023 IEEE.

关键词： Fuzzy logic controller integral controller load frequency control optimization technique parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Efficient Deep Learning Modalities for Object Detection from Infrared Images

引用

computers, Materials & Continua 2022年第8期72卷 2545-2563页

作者： Naglaa F.Soliman E.A.Alabdulkreem Abeer D.Algarni Ghada M.El Banby Fathi E.Abd El-Samie Ahmed Sedik Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelSheikh UniversityKafr el-sheikhEgypt

For military warfare purposes,it is necessary to identify the type of a certain weapon through video stream tracking based on infrared(IR)video *** vision is a visual search trend that is used to identify objects in images or video *** military applications,drones take a main role in surveillance tasks,but they cannot be confident for longtime ***,there is a need for such a system,which provides a continuous surveillance task to support the drone *** a system can be called a Hybrid Surveillance System(HSS).This system is based on a distributed network of wireless sensors for continuous *** addition,it includes one or more drones to make short-time missions,if the sensors detect a suspicious *** paper presents a digital solution to identify certain types of concealed weapons in surveillance applications based on Convolutional Neural Networks(CNNs)and Convolutional Long Short-Term Memory(ConvLSTM).Based on initial results,the importance of video frame enhancement is obvious to improve the visibility of objects in video *** accuracy of the proposed methods reach 99%,which reflects the effectiveness of the presented *** addition,the experimental results prove that the proposed methods provide superior performance compared to traditional ones.

关键词： Deep learning object detection military applications OFDM SPIHT IoT

来源：评论

学校读者我要写书评

暂无评论

High-Value Target Escort and Defense Scenario with Differential Subgame Cost 63

High-Value Target Escort and Defense Scenario with Different...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Judy, Rachael L. Fuchs, Zachariah E. Casbeer, David W. University of Cincinnati Department of Electrical Engineering and Computer Science CincinnatiOH United States Control Science Center of Excellence Air Force Research Laboratory 2210 8th St. WPAFBOH45433 United States

ISBN: (纸本)9798350316339

An Escort and Defense Scenario is presented in which a high-value Target maneuvers through a high-risk region while being escorted by a mobile, defensive agent. Along this trajectory, an Attacker may be launched from one of several possible launch locations. If a launch occurs, the three agents play out a Target-Attacker-Defender (TAD) differential game in which the Defender attempts to intercept the Attacker at maximal distance from the Target while the Attacker strives to maneuver as close as possible to the Target. Prior to launch, the Target and Defender strive to preposition themselves in advantageous positions to effectively respond to a potential threat while simultaneously moving towards a safety region. An augmented collocation-based direct optimal control method is developed to solve the escort problem by solving and utilizing the value of the TAD differential subgame at each collocation point while simultaneously optimizing the primary optimal control problem. © 2024 IEEE.

关键词： Optimal control systems

来源：评论

学校读者我要写书评

暂无评论

Distributed Coordinated Optimal control for Synchronous Operation of Virtually Coupled Train Set 27

Distributed Coordinated Optimal Control for Synchronous Oper...

引用

27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Luo, Xiaolin Wang, Dongming Wang, Wei Ji, Yindong Liu, Hongjie Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation Beijing100044 China University of California Department of Electrical and Computer Engineering RiversideCA92521 United States Traffic Control Technology Co. Ltd Beijing100070 China Tsinghua University Department of Automation Beijing100084 China School of Automation and Intelligence Beijing Jiaotong University Beijing100044 China

ISBN: (纸本)9798331505929

Virtual coupling technologies have been widely studied in recent years, due to their merits of flexibility and efficiency. However, to operate a virtually coupled train set (VCTS) as a single train, the synchronous operation is still a critical problem to be addressed, especially in arriving. To this end, we propose a distributed coordinated optimal control (DCOC) approach integrated with distributed optimization and model predictive control. First, we formulate a globally coordinated optimal control problem for VCTS, where the states of units in VCTS are coupled in the cost and constraints. Then, we design a distributed algorithm to solve the global problem, where local problems are decoupled into ones with fewer dimensions. Next, we employ distributed model predictive control to guarantee the satisfaction of safety constraints before the convergence of the distributed algorithm. Finally, experimental results demonstrate that our approach can achieve stable and synchronous operation for VCTS and save by 90% computation time than existing centralized approaches. © 2024 IEEE.

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

Distributed Online Bandit Nonconvex Optimization with One-Point Residual Feedback via Dynamic Regret

arXiv

引用

arXiv 2024年

作者： Hua, Youqing Liu, Shuai Hong, Yiguang Johansson, Karl Henrik Wang, Guangchen School of Control Science and Engineering Shandong University Jinan China Nanyang Technological University Singapore Department of Control Science and Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

This paper considers the distributed online bandit optimization problem with nonconvex loss functions over a time-varying digraph. This problem can be viewed as a repeated game between a group of online players and an adversary. At each round, each player selects a decision from the constraint set, and then the adversary assigns an arbitrary, possibly nonconvex, loss function to this player. Only the loss value at the current round, rather than the entire loss function or any other information (e.g. gradient), is privately revealed to the player. Players aim to minimize a sequence of global loss functions, which are the sum of local losses. We observe that traditional multi-point bandit algorithms are unsuitable for online optimization, where the data for the loss function are not all a priori, while the one-point bandit algorithms suffer from poor regret guarantees. To address these issues, we propose a novel one-point residual feedback distributed online algorithm. This algorithm estimates the gradient using residuals from two points, effectively reducing the regret bound while maintaining O(1) sampling complexity per iteration. We employ a rigorous metric, dynamic regret, to evaluate the algorithm's performance. By appropriately selecting the step size and smoothing parameters, we demonstrate that the expected dynamic regret of our algorithm is comparable to existing algorithms that use two-point feedback, provided the deviation in the objective function sequence and the path length of the minimization grows sublinearly. Finally, we validate the effectiveness of the proposed algorithm through numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Optimization algorithms

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：